\section{Introduction}
In this report, we give a coarse outline of our work on a robot capable of navigating and mapping a maze, finding visual objects\footnote{Called ``tags'' from now on} in that maze, and navigating later back to each of these objects in turn. This is a complex task, and we describe both the design as well as the problems encountered, performance on task and subtasks, an analysis of our robots strengths and weaknesses, and some conclusions and lessons that were learned.

Both the design and problems sections are further divided in both a hardware and a software part. This distinction is not always as simple as just that: where do you discuss poor camera performance for example? Is it a software problem (requiring better drivers), or a hardware problem (requiring more CPU power, or better cameras)? Since our control over the hardware was limited\footnote{And we did not in fact have much choice in what hardware to use.}, we will mostly focus on software in this document. In the design section, we attempt to outline how our software is structured, how each component acts and relies on other components, and the outlines of how each component works. In the problems section, we discuss the most important problems we encountered, and how we attempted to solve these. The performance and analysis sections focus on how well the robot does on its designated task, what the bottlenecks are, and how these may be removed.

Lastly, the conclusion and lessons learned sections discuss our take-home message from this project: what did we learn? Was our initial design suitable? What could we have done better, or differently? 